HOW CAN I SYNC VELODYNE AND MAP IN AUTOWARE

[Minaygt]

At autoware, I'm trying to open the VLP-16 lidar on the vehicle in real life and move it. I opened it on my own map, but I can't move it and it doesn't open in my current location. What kind of path do I need to follow, can you help me?

I launch in this way
ros2 launch autoware_launch autoware.launch.xml map_path:=$HOME/autoware_map/maps vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit
and when I also run the code that below ,my vehicle is seen on my map
ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 velodyne base_link
thank you